@INPROCEEDINGS{9981255,
    author={Moreno-Martín, Siro and Ros, Lluís and Celaya, Enric},
    booktitle={2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, 
    title={A Legendre-Gauss Pseudospectral Collocation Method for Trajectory Optimization in Second Order Systems}, 
    year={2022},
    volume={},
    number={},
    pages={13335-13340},
    doi={10.1109/IROS47612.2022.9981255}
}